Con te am

101006210
daffy 3 e39diff sinky 05 doff 2day Zu too

Y 3 e39 y Sin
2g o 5 ii tzu 2u

At equilibrium ij o
y 0 ii O i O U I g
y g
Substituting these values in the differential equation we get

O O 25
Sin 2T
sin 25 Zvi
sin 2E
2g
J size
2

If Tr 0 Sin 25 O

At it o and 5 0 the DE becomes d

the form 0 0 therefore this is a valid

equilibrium point
 1010062

Sy y j

Sii ii
O O
l y y y ii ou u l 0,015 o.o I

Let l y 3EB Sindy to 5 Ii Zi 124 0

y

Lbj Y y ii ie n eco o y o o ut t

ftpegsi'tff
egsjte

qSY 8fi gsiitffi

if5 oJoyI
su
35

t 0
20525 2 5 afflegsu
2
s
l Sy 3 1 Kos2g Sy 05 Sii 28in 2 Su O

3e Koos2g y o Zu O
daff Hayy 5ddYz 2day
 1010062
Yes the system has stable equilibrium when
a O and y O Because the system attains a
steady value at this particular point
 1010062
Taking the Laplace transform of the linearized
DE obtained in b we at Trio so
get g

53 Yes 3 sycs 2 Yes 0.55 Vcs 2 sues

1 ZUG 0

Yes S3 3s 2 0.55 25 2 Vcs

41 63 35 2 3
Ucs 0.55 25 2
 1010 062
2
Tcs
52 s 1
2

S plane
poles I 1

Dens E k 0

Since poles are on the L H P the Tcs is

131130 stable
 10100

YG 2
52
CstD2

for step response Ucs

L
2
Yes
525 i Stl

A
Stl SAS25 Stl

1 1
2
SCS 11 2 St 1

Applying partial fraction to both tins

5 Ft
l A Gti B s Stl 1 s
 1010062
Mta met

pnt I A 2 B Z t C

I 4 2B l

2 2B
B

5 T tf 5

Yes
f 2

Is 32 2

Taking Inverse Laplace tramfm

YH 3tEtJ
l Et

Step prespons A Tcs

 101001
dm splay

A
pro zero

f k

pole zero plot

fence there is positive zerog there will be

over shoot
 Contr 10100 62

IS
Hcs
Sti ti

E K as

FE i
q II.es
YET ask.IE asT
Ecs Rcs Yes
Rcs I
fkfsf.SI
TtktasT

rEs lsEsI5YzsEiIEsD

skiffs
 1010062
S Stl Gti Yes KECs t as Ecs

sets 25 1 Yes
253 35 15 Yes KEG as Ecs

253Yes 357cg t sycs KEG as ECD

2 y
 10100622

Yes k
5 Stl 2st D t k t as

kta
Sts 2 St D t k t as

Kt as
2 s t 35 Catt Stk

Characteristic Equation 28 354 TDs 1K 0

To
find suitable values d a we are

Routh's Criterion

a a

Kati
GK
 10100622
A72

It K_ 0
253 135 Catt s

KS
It
25 135 t HIT
3 f D
4
3

F FE
Fsj
3 M s

4
Since a 33 Ffa is negative

075 j

6
 I 010062
Blue represent

ff
asymptotes
I 609 180 3000
Fat's
I

i
te is

piles o 75 jra 075 jiff 0

zeros Nil
n 3 M 0

i n m
I No d Asymptotes 3

2kt I
Angle d asymptos 1831

Go 2kt l

Angles are 60 180 300

Angle between the asymptotes are 120
Intersection point of asymptotes sung pres Gun A ans

I o
Ia
 10
iii crossing the imaginary axis

CE 28 1354 CatDS t k 0

coossity the imaginary axis happens when

S
jw
Substituy in EE

2CjwP 3 G of t ca t Dja t K o

2 adj 3 at fat Dja t K o

K 302 KatDw 2nd

j o

K 30T t a
flatD 2nd j o
CD Angle A departs from elite
pre
poleI 0

180 0 Go t 75tf

Iso tan
III tariffs
e

Potez o 75 that j

1800
I 5t

t i ij

188 tan
ta t 900
 270 tant
Ita
poles C o 75
Ij
180
fCo.IT Tj oJt
98
180 tan
f
go
tariff
 10100622
From Routh's tenon y

Calataled above

Atl Zz K 70

att
K T
3
K L 3
2
and K O

k 3

2
 tht t Rcs Lga
10100625

S E o 02 given
s Ecs
S S E slim

slim
SR
f 4

sash

fi
e l ii
s.SE
took

100g II 100
 101006212
Impulse respson
G ly
 1010062
Rcs
2g
Hcs Cacs
259 35 5

Yet Close loop tomfn

CARD253 3545 1 Cds

5EY sfing secs ski 4

hehe s RCD 253 135 5
STO

line K34773
Eino
lot
slim.dk I 3ssIts
FsacsT
When s 0

Lim
SSE become
o ISCa
s

So for the limit to be finite

at the
Cass
Ky ie one
pile
origin
 C team

101006230 Gcs L
S2 t 2
Csc A et ST

A EtI
T
Gcs Cs A Its 1

5.5
Allt
S3 155 251 10
Closed loop
toansfvfn.GG
It Gcs cs

Act
53 55 1251 10 1 A AT
A Its 1

S3 55 t ADS1 IOTA

6
 1010062
Characteristic Equation S3 155 1Gt AT s lot A O

Applying Routh's stability criterion

TIE a

AT
to1A Is

AT 0
Az
0
A
ft t
Since A o
given
T 70
T

Also lot A 7 0
A 10

But A is already defined as positive

so the range of A is A

I 62
 10100622
20 120
Gcs Es AC s1 35
4425 5 t
13
20332

Htt
IF
o.int
ft
g y

IG gill Ot AT
f t

FEET
1 81 LET a
GE
EE
tan Fn
o
tariff
0.5 o
For sketches let A 20
and T correspond 0 32 1Eeadls
2g
AT 20 23 13 33 20 logo IAT
2.49g dB
a
 1010062

µfdB
W

tone

cashstant O LAT 20 logCo IAT dB 2.41dB

1 20
logfq.TT
D I ad s Break

1 20 log BreakfreganTradls

t
20 log hat

t
 294dB
g i
EE

j i l
OO O
l t.e.ro
t
head
t
Eti

Gcs Hcs AT t

St 5 5 2

Let A 20 and T 2g
0.667

of state

Open loop functu

become
I
 101001
13 33 I s

It's'T
e
Etfs
I 33 Est
y z
let Gija Ceja NoLgb

laogwt C 3D.IT
FetET tan ofear
WED Ot tan
Ef E
tan 180 0
Also o Hari F
27 1,010062
µ
1 r
V
252dB
En

EE
2 ci fe
O
O97
h
i
H
yza n
i

i
t l I
71
l
as 10

2750
O

I
Ef 180

k
Inolj 5 I e lo 97dB
dog't571 25 2dB
2 29
Gain margin 1

I Noljup
where Wp is the phase crossover frequency

ie LED 180

tan tan 180 180

E f
tan 360
tariff
a